version: 66.07
glider: 543
mission: 9
dive: 228
start: 1 7 114 20 52 16
data:
$ID,543
$MISSION,9
$DIVE,228
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,-800
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13257.415
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.073162
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00023287861
$GPS1,070114,203735,-4259.570,830.159,33,0.9,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.0
$GPS2,070114,205153,-4259.658,830.324,19,0.9,20,-25.0
$SPEED_LIMITS,0.150,0.228
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,239.7,771,-27.0,-8.684
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.54,-51.0,0.0,0.0,0,59,0.00,0.00,-41.88,0.000,2,0.000,0.000,54,3377,2544,0,0,0,0,0,0
$GC,61,-0.56,-86.5,3.1,-4.6,5,80,6.20,0.98,-8.07,0.000,4,0.238,0.088,1527,3957,2829,0,0,0,0,0,0
$GC,346,-0.56,-86.5,55.3,-18.9,52,353,0.00,0.88,0.00,0.000,6,0.000,0.034,1528,3380,2834,0,0,0,0,0,0
$GC,690,-0.56,-86.5,107.5,-13.5,108,694,0.00,0.93,0.00,0.000,4,0.000,0.059,1523,3953,2835,0,0,0,0,0,0
$GC,909,-0.56,-86.5,140.7,-15.1,127,917,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3375,2836,0,0,0,0,0,0
$GC,1235,-0.56,-86.5,187.6,-14.4,158,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3375,2837,0,0,0,0,0,0
$GC,1555,-0.56,-86.5,233.5,-14.9,188,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3375,2837,0,0,0,0,0,0
$GC,1873,-0.56,-86.5,277.7,-13.1,218,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3375,2838,0,0,0,0,0,0
$GC,2192,-0.56,-86.5,320.2,-13.5,248,2196,0.00,2.12,0.00,0.000,4,0.000,0.031,1523,1971,2837,0,0,0,0,0,0
$GC,2211,-0.56,-86.5,322.7,-13.8,249,2215,0.00,2.28,0.00,0.000,6,0.000,0.051,1512,3389,2837,0,0,0,0,0,0
$GC,2536,-0.56,-86.5,369.2,-14.2,279,2539,0.00,0.88,0.00,0.000,4,0.000,0.058,1508,3939,2837,0,0,0,0,0,0
$GC,2585,-0.56,-86.5,376.8,-15.3,283,2593,0.00,0.85,0.00,0.000,6,0.000,0.034,1508,3384,2837,0,0,0,0,0,0
$GC,2916,-0.56,-86.5,424.9,-14.3,307,2920,0.00,0.90,0.00,0.000,4,0.000,0.059,1504,3947,2837,0,0,0,0,0,0
$GC,2971,-0.56,-86.5,433.5,-15.4,309,2976,0.12,0.88,0.00,0.000,6,0.184,0.034,1534,3377,2837,0,0,0,0,0,0
$GC,3292,-0.56,-86.5,473.3,-12.1,325,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3377,2836,0,0,0,0,0,0
$GC,3602,-0.56,-86.5,510.1,-11.8,340,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3377,2835,0,0,0,0,0,0
$GC,3911,-0.56,-86.5,546.6,-11.7,355,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3377,2835,0,0,0,0,0,0
$GC,4220,-0.56,-86.5,584.5,-12.3,370,4224,0.00,0.90,0.00,0.000,4,0.000,0.061,1531,3935,2834,0,0,0,0,0,0
$GC,4274,-0.56,-86.5,591.9,-12.7,372,4279,0.00,0.85,0.00,0.000,6,0.000,0.037,1531,3381,2834,0,0,0,0,0,0
$GC,4596,-0.56,-86.5,631.1,-12.3,388,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3381,2833,0,0,0,0,0,0
$GC,4905,-0.56,-86.5,667.3,-11.4,403,4909,0.00,0.90,0.00,0.000,4,0.000,0.061,1527,3939,2833,0,0,0,0,0,0
$GC,4937,-0.56,-86.5,671.4,-12.2,404,4942,0.00,0.88,0.00,0.000,6,0.000,0.037,1527,3373,2833,0,0,0,0,0,0
$GC,5260,-0.56,-86.5,707.5,-11.2,420,5263,0.00,0.93,0.00,0.000,4,0.000,0.062,1523,3946,2832,0,0,0,0,0,0
$GC,5314,-0.56,-86.5,713.9,-11.1,422,5319,0.00,0.88,0.00,0.000,6,0.000,0.037,1523,3379,2832,0,0,0,0,0,0
$GC,5636,-0.56,-86.5,749.2,-11.1,438,5640,0.00,0.93,0.00,0.000,4,0.000,0.062,1519,3951,2831,0,0,0,0,0,0
$GC,5708,-0.56,-86.5,757.8,-11.9,441,5712,0.00,0.90,0.00,0.000,6,0.000,0.037,1519,3369,2831,0,0,0,0,0,0
$GC,6035,-0.56,-86.5,793.3,-10.8,457,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3369,2831,0,0,0,0,0,0
$GC,6344,-0.56,-86.5,827.3,-10.9,472,6348,0.00,0.93,0.00,0.000,4,0.000,0.062,1515,3942,2830,0,0,0,0,0,0
$GC,6416,-0.56,-86.5,836.1,-12.1,475,6420,0.00,0.88,0.00,0.000,6,0.000,0.037,1515,3378,2830,0,0,0,0,0,0
$GC,6743,-0.56,-86.5,872.1,-11.3,491,6747,0.00,0.93,0.00,0.000,4,0.000,0.062,1510,3950,2829,0,0,0,0,0,0
$GC,6775,-0.56,-86.5,876.2,-12.4,492,6780,0.00,0.88,0.00,0.000,6,0.000,0.037,1511,3383,2829,0,0,0,0,0,0
$GC,7099,-0.56,-86.5,913.8,-11.5,508,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3383,2829,0,0,0,0,0,0
$GC,7406,-0.56,-86.5,951.0,-12.4,523,7410,0.00,0.90,0.00,0.000,4,0.000,0.062,1506,3943,2829,0,0,0,0,0,0
$GC,7523,-0.56,-86.5,966.6,-13.7,528,7528,0.12,0.88,0.00,0.000,6,0.181,0.037,1537,3381,2828,0,0,0,0,0,0
$STATE,7745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7745,begin apogee
$GC,7750,-0.09,0.0,990.3,10.6,539,7838,0.50,0.00,85.07,1.872,6,0.151,0.000,1685,3285,2474,0,0,0,0,0,0
$STATE,7839,end apogee,CONTROL_FINISHED_OK
$STATE,7839,begin climb
$GC,7841,0.56,86.5,992.7,0.0,543,7934,0.62,0.00,89.88,1.818,6,0.068,0.000,1901,3285,2120,0,0,0,0,0,0
$GC,8240,0.56,86.5,947.8,13.5,563,8243,0.00,1.10,0.00,0.000,4,0.000,0.060,1901,3940,2109,0,0,0,0,0,0
$GC,8285,0.56,86.5,940.8,15.9,565,8288,0.00,1.05,0.00,0.000,6,0.000,0.037,1906,3278,2109,0,0,0,0,0,0
$GC,8617,0.56,86.5,894.4,13.7,581,8621,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3946,2105,0,0,0,0,0,0
$GC,8685,0.56,86.5,884.1,15.9,584,8689,0.00,1.02,0.00,0.000,6,0.000,0.037,1911,3286,2105,0,0,0,0,0,0
$GC,9018,0.56,86.5,836.8,14.6,600,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3285,2104,0,0,0,0,0,0
$GC,9328,0.56,86.5,791.3,14.8,615,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3286,2103,0,0,0,0,0,0
$GC,9636,0.56,86.5,745.6,14.6,630,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3285,2103,0,0,0,0,0,0
$GC,9945,0.56,86.5,700.0,14.8,645,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3285,2102,0,0,0,0,0,0
$GC,10254,0.56,86.5,656.1,13.5,660,10258,0.00,1.08,0.00,0.000,4,0.000,0.062,1911,3942,2101,0,0,0,0,0,0
$GC,10348,0.56,86.5,642.1,15.2,664,10352,0.00,1.05,0.00,0.000,6,0.000,0.036,1916,3271,2101,0,0,0,0,0,0
$GC,10676,0.56,86.5,598.7,12.9,680,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3271,2100,0,0,0,0,0,0
$GC,10985,0.56,86.5,558.7,12.8,695,10988,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3946,2100,0,0,0,0,0,0
$GC,11107,0.56,86.5,541.3,14.7,700,11111,0.00,1.02,0.00,0.000,6,0.000,0.036,1921,3277,2099,0,0,0,0,0,0
$GC,11429,0.56,86.5,499.4,12.8,716,11433,0.00,2.15,0.00,0.000,4,0.000,0.034,1932,1871,2099,0,0,0,0,0,0
$GC,11468,0.56,86.5,494.8,11.2,718,11473,0.00,2.28,0.00,0.000,6,0.000,0.050,1932,3286,2098,0,0,0,0,0,0
$GC,11795,0.56,86.5,454.3,12.2,734,11799,0.00,1.08,0.00,0.000,4,0.000,0.059,1932,3954,2098,0,0,0,0,0,0
$GC,11929,0.56,86.5,436.3,13.3,740,11934,0.10,1.02,0.00,0.000,6,0.204,0.037,1910,3279,2098,0,0,0,0,0,0
$GC,12262,0.56,86.5,399.6,11.2,756,12266,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3947,2098,0,0,0,0,0,0
$GC,12308,0.56,86.5,393.9,12.8,760,12311,0.00,1.00,0.00,0.000,6,0.000,0.037,1913,3292,2098,0,0,0,0,0,0
$GC,12638,0.56,86.5,355.4,11.7,791,12642,0.00,1.05,0.00,0.000,4,0.000,0.060,1914,3942,2098,0,0,0,0,0,0
$GC,12683,0.56,86.5,349.7,12.1,795,12686,0.00,1.00,0.00,0.000,6,0.000,0.037,1918,3286,2098,0,0,0,0,0,0
$GC,13013,0.56,86.5,308.1,12.8,826,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3286,2098,0,0,0,0,0,0
$GC,13332,0.56,86.5,265.0,13.8,856,13336,0.00,1.08,0.00,0.000,4,0.000,0.059,1918,3951,2098,0,0,0,0,0,0
$GC,13494,0.56,86.5,239.6,15.7,870,13502,0.00,1.05,0.00,0.000,6,0.000,0.035,1924,3271,2098,0,0,0,0,0,0
$GC,13822,0.56,86.5,196.4,12.7,901,13826,0.00,1.10,0.00,0.000,4,0.000,0.059,1923,3956,2097,0,0,0,0,0,0
$GC,13950,0.56,86.5,178.1,13.2,912,13960,0.00,1.02,0.00,0.000,6,0.000,0.036,1928,3282,2097,0,0,0,0,0,0
$GC,14276,0.56,86.5,137.2,12.8,943,14280,0.00,2.17,0.00,0.000,4,0.000,0.032,1940,1853,2097,0,0,0,0,0,0
$GC,14309,0.56,86.5,133.3,11.4,945,14317,0.15,2.30,0.00,0.000,6,0.185,0.050,1903,3290,2096,0,0,0,0,0,0
$GC,14636,0.56,86.5,97.4,10.6,978,14645,0.00,1.05,0.00,0.000,4,0.000,0.059,1903,3949,2096,0,0,0,0,0,0
$GC,14692,0.56,86.5,90.8,12.3,987,14700,0.00,1.00,0.00,0.000,6,0.000,0.036,1907,3284,2096,0,0,0,0,0,0
$GC,15045,0.56,86.5,57.5,9.9,1048,15052,0.00,2.15,0.00,0.000,4,0.000,0.031,1917,1861,2096,0,0,0,0,0,0
$GC,15311,0.58,114.4,42.1,5.5,1094,15327,0.00,2.28,9.68,0.907,6,0.000,0.050,1917,3289,2004,0,0,0,0,0,0
$GC,15689,0.58,114.4,3.2,10.7,1156,15698,0.00,2.17,0.00,0.000,4,0.000,0.031,1928,1861,2001,0,0,0,0,0,0
$STATE,15706,end climb,SURFACE_DEPTH_REACHED
$STATE,15706,begin surface coast
$FINISH,0.8,1.026194
$STATE,15738,end surface coast,CONTROL_FINISHED_OK
$STATE,15738,begin surface
$SM_CCo,15753,43.53,0.783,0,0,1573,220.03
$SM_GC,1.23,0.00,0.00,43.53,0.000,0.000,0.783,49,3389,1573,-5.22,0.25,220.03
$IRIDIUM_FIX,-4242.04,830.68,070114,161657
$TT8_MAMPS,0.025466
$HUMID,61.18
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.4,34.155
$10V_AH,10.0,25.174
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.775,63.250,184.625,43.525,0.000,28.003,41.176,651.337,0.000,0.000,22.400,2876.561,9817.161,338.661,3341.793,276.981,0.000,1393.917,0.000,2536.927,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,87.975,1871.955,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.961,1982.080,808.530,401.268,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,83766,1163
$CAP_FILE_SIZE,143234,0
$CFSIZE,259252224,242020352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080114,011635,-4300.168,829.214,27,1.4,27,-25.0